Lift/swivel drive

ABSTRACT

The invention relates to a lift/swivel drive comprising a working element ( 2 ) which can traverse rotationally and linearly in relation to a housing element ( 1 ). In order to displace the working element in a controllable linear and rotative manner in relation to the housing element ( 1 ), at least one linear motor ( 5 ) and at least one rotative motor ( 7 ) are assigned to the working element ( 2 ) and/or the housing element ( 1 ).

[0001] The present invention relates to a lifting/swiveling drive havinga working element which can move rotatably and linearly relative to ahousing element.

[0002] Lifting/swiveling drives of this type are known commercially andare customary in diverse forms and designs. They are used in differentspheres essentially for carrying out an entirely determined liftingmovement, for example of a tool, with a simultaneous or subsequentrotational movement in order to process a certain workpiece or, forexample, to pick up a certain object and to deposit it at anotherlocation.

[0003] In the case of conventional lifting/swiveling drives, use ismade, for example, of disk cam mechanisms which are subject to a highdegree of wear and are thereby imprecise.

[0004] Furthermore, lifting/swiveling drives of this type are very slowin operation and can therefore only be used to a limited extent duringproduction. For example, lifting/swiveling drives of this type are usedin the production of compact disks (CDs) which, in order for the plasticcarrier to be coated, have to be inserted into a corresponding devicefor this purpose. It should be possible for this insertion to take placevery exactly, precisely and very rapidly. Manufacturing devices of thistype are in operation 24 hours a day and require long service lives athigh velocities. The precision is considerably impaired by wear, whichis disadvantageous. The consequence of higher velocities is a higherdegree of wear and a higher breakdown rate, which is undesirable.

[0005] Furthermore, lifting/swiveling drives of this type can be used,for example, as “wafer handling” in the semiconductor industry.

[0006] The present invention is based on the object of providing alifting/swiveling drive of the type mentioned at the beginning whicheliminates the above-mentioned disadvantages and with which, inparticular, the precision, the velocities and accelerations of rotativeand linear type is [sic] to be increased considerably accompanied bylonger service lives.

[0007] Furthermore, a control of the linear and rotative movement of theworking element is to be possible in a highly precise and exact manner.

[0008] This object is achieved in that in order for the working elementto move in a controllable, linear and rotative manner relative to thehousing element, at least one linear motor and at least one rotativemotor is (sic] assigned to the working element and/or the housingelement.

[0009] In the case of the present invention, linear motor and rotativemotor are arranged spaced apart radially from each other in the housingelement. The stators thereof are connected firmly and fixedly to thehousing element and, in particular, to its inner cylinder wall. Thehousing element is preferably of cylindrical design and the workingelement is mounted in a linearly moveable and rotatable manner in it.

[0010] In the region of the linear motor and of the rotative motor,magnets are arranged on the outside of the working element, on thecircumferential surface thereof, in a manner such that they at leastpartially encircle it radially. In this case, linear motor and rotativemotor are in contactless connection with the respective magnets, inparticular permanent magnets, of the working element.

[0011] The magnets are of a radial length which is greater than a lengthor an effective region of the rotative motor or of the linear motor.

[0012] This enables the working element to rotate in a contactlessmanner and independently either about a central axis as desired and alsoin any desired independent numbers of revolutions and at the same timeto move linearly to and fro independently of this movement.

[0013] This enables any desired tool adjoining the working element tomove exactly to a desired location, in particular by means of the exactcontrol of the linear and rotatively independent movement. The liftingmovement and the swiveling movement can be activated independently ofeach other and, in particular, can be programmed. The same applies forthe parameters of linear lift and rotational angle, linear accelerationand velocity and angular velocity and angular acceleration.

[0014] By means of the arrangement of the linear motors and of therotative motors in the cylinder wall of the housing element, thegreatest masses remain in the housing element. By this means, theworking element is of very lightweight design and can therefore absorbrelatively large accelerations and velocities and angular velocities.Furthermore, a system of this type operates in a virtually wear-freemanner, since only the bearings, preferably designed as sliding bearingsor as rolling contact bearings or as a combination of both bearings, arein engagement between housing element and working element.

[0015] It has proven particularly advantageous for the working elementto be adjoined on the end side by a measuring device via a bearingelement which sits in a sleeve-like manner on the working element.

[0016] The bearing element decouples a rotative movement between workingelement and measuring device, with the result that the latter is coupledonly linearly to the working element. For this purpose, the measuringdevice is guided linearly, if appropriate via a guide element, so that arotative movement of the measuring device is decoupled.

[0017] The linear movement of the measuring device can be read exactlyvia highly precise linear sensors, which are preferably assigned to thehousing element on the inside and interact with, for example, magneticstrips of a measuring device, and by this means the path which is to becovered or has been covered and the linear acceleration and velocity canbe determined exactly and highly precisely and controlled via the linearmotor.

[0018] At the same time, by means of the rotative fixing of themeasuring device relative to the working elements [sic] by two rotationsensors spaced apart in a contactless manner with respect to each otheron, on the one hand, the measuring device and, on the other hand, theworking element, an exact determination of the rotational angle, of thenumber of revolutions, of the angular velocity and of the angularacceleration is possible. By this means, any desired angle or anydesired number of revolutions can be read exactly and highly precisely[lacuna] controlled and programmed with the aid of the rotative motor.

[0019] By supporting the measuring device by means of at least onespring element relative to a base of a housing element, the dead weightof the working element can, in particular, be balanced and, ifappropriate, if the current should fail damage to the working elementfalling downwards towards the base of the housing element can beprevented. The reduction in the dead weight enables the working elementto move substantially more rapidly and more easily. Higher loads can bepicked up or the dead weight and the size or the power of the linearmotor can be reduced.

[0020] Furthermore, it is advantageous in the case of the presentinvention that the linear motor and rotative motor can be activated andsupplied with power via the housing element via fixed, immobileconnecting lines. The same applies to the linear sensor and to therotative sensor.

[0021] All of the connections to the working element take place in acontactless manner without direct supply of power by means of cables,lines or the like.

[0022] This increases the service life of lifting/swiveling drives ofthis type, in particular. It is furthermore advantageous that theworking element, which is designed, for example, as a hollow shaft, canbe used in order to pass compressed air or negative pressure into a toolor a similar working device connected thereto. Lines of this type maycorrespondingly also be passed through, should this be desirable.

[0023] Further advantages, features and details of the invention emergefrom the following description of preferred exemplary embodiments andwith reference to the drawing, in which:

[0024]FIG. 1 shows a schematically illustrated longitudinal sectionthrough a lifting/swiveling drive according to the invention in anoperative position;

[0025]FIG. 2 shows a schematically illustrated longitudinal sectionthrough the lifting/swiveling drive according to FIG. 1 in a furtheroperative position;

[0026]FIG. 3 shows a schematically illustrated longitudinal section of afurther exemplary embodiment through the lifting/swiveling driveaccording to FIGS. 1 and 2.

[0027] According to FIG. 1, a lifting/swiveling drive R according to theinvention has a housing element 1 which is preferably of cylindricaldesign. A working element 2, which is of cylindrical design, is insertedin a manner such that it is movable coaxially therein in a linear mannerin the double arrow direction X which is illustrated and such that itcan rotate about a central axis M in the double arrow direction Y whichis illustrated. Preferably two spaced apart bearings 3, which aredesigned, for example, as sliding bearings or the like, mount theworking element 2 in the housing element 1 in a precise, exactly fittingand virtually play-free manner.

[0028] At one end the working element 2 is adjoined by any desired tool4, arm, gripper, gripping device or the like which, by means of thelinear movement in the double arrow direction X, experiences a lift Hand, by means of a rotative rotational movement of the working element2, approaches a certain location, for example for gripping, picking up,depositing and machining workpieces or the like.

[0029] In the case of the present invention, the working element 2 isarranged in a manner such that it can rotate about the central axis M asoften as desired irrespective of an angle of rotation.

[0030] It has proven advantageous in the present invention, for thelinear movement of the working element 2, to insert a linear motor 5 inan at least partially encircling manner into an inner cylinder wall 6 ofthe housing element 1 and to fix it there. In this case, the linearmotor 6 [sic] can be arranged in a radially encircling manner on theinside in the cylinder wall 6 of the housing element 1.

[0031] A rotative motor 7 which is arranged in an at least partiallyencircling manner and only rotatively drives the working element 2 isprovided in the housing element 1, in particular in the region of thecylinder wall 6, spaced apart from the linear motor 5. The linear motor5 and the rotative motor 7 are arranged as stators spaced apart axiallyfrom each other in the housing element 1 and fixed to the cylinder wall6 of the housing element 1.

[0032] The scope of the present invention is to include arranging aplurality of linear motors 5 and rotative motors 7 in each case radiallywithin the cylinder wall 6, at different levels, if appropriate.

[0033] Furthermore, in the region of the linear motors 5 and rotativemotors 7 cooling ribs or the like (not illustrated here) can be assignedto the outside of the housing element 1, in order to conduct away heat.

[0034] Linear motor 5 and rotative motor 7 preferably lie spaced apartaxially from each other between the bearings 3 in the housing element 1.In this case, the linear motor 5 is spaced apart at a distance A fromthe bearing 3 on the one hand, and from the adjacent, rotative motor 7,on the other hand. This distance A is equal to or larger than a maximumlift H of the working element 2.

[0035] For the linear movement, in the region of the linear motor 5 amagnet 9.1, in particular a permanent magnet, is assigned to an outercircumferential surface 8 of the working element 2 and is spaced apartfrom the linear motor 5 in a contactless manner and close to it. Themagnet 9.1 is preferably arranged completely over the circumferentialsurface and radially around the entire circumference of the workingelement 2 as a permanent magnet. In this case, a radial length K of themagnet 9.1 is larger than a length L of the range of effectiveness ofthe linear motor 5.

[0036] The same applies for the rotative motor 7 and its assigned magnet9.2 on the working element 2, which magnet runs in the above-describedmanner radially around the circumferential surface 8 of the workingelement 2.

[0037] The radial length K of the magnets 9.1, 9.2 is designed to belarger than the range of effectiveness or than a length L of linearmotor 5 and rotative motor 7.

[0038] A maximum lift H is produced from the radial length K of themagnets 9.1, 9.2 minus the length L of linear motor 5 and rotative motor7.

[0039] By means of the linear motor 5, the working element 2 can movelinearly to and fro, accelerate or traverse in a contactless manner, inparticular inductively, in interaction with the magnet 9.1 in the doublearrow direction X illustrated, irrespective of a rotative movement orposition of the working element 2.

[0040] In this case, an exactly defined path can be covered at anexactly defined, controllable and determinable time, acceleration andvelocity by means of the linear motor 5. This linear movement isindependent of an entirely determined rotational movement about thecentral axis M.

[0041] The rotational movement takes place by means of the rotativemotor 7 which is in engagement with or inductively interacts with themagnets 9.2 of the working element 2. The rotative movement of theworking element 2 takes place at independent rotational velocities,rotational accelerations and rotational angles, it being possible forthe working element to rotate about the central axis M irrespective ofan angle, for example to and fro as often as desired in the double arrowdirection Y which is illustrated or as often as desired in one directionor the other about said central axis. An important feature in thepresent invention is that the linear movement of the working element 2relative to the linear motor 5 takes place independently of a rotationalmovement of the working element 2 by means of the rotative motor 7. Therotative and the linear driving movements of the working element 2 canbe regulated and controlled completely independently of each other.

[0042] Furthermore, it is advantageous in the present invention that themagnets 9.1, 9.2, which are arranged spaced apart axially from eachother on the circumferential surface 8 of the working element 2 and areintended for the linear motor 5 and for the rotative motor 7, have arelatively low dead weight in relation to the linear motor 5 and therotative motor 7.

[0043] By this means, the working element 2 can be of very lightweightdesign and can therefore execute very great accelerations and can alsoabsorb relatively large loads or forces.

[0044] Furthermore, it is advantageous that the linear motor 5 and alsothe rotative motor 7 are supplied with power via the outer housingelement 1 and, in this connection, can also be controlled externally viaconnecting lines (not illustrated) which are not moved.

[0045]FIG. 2 illustrates the manner in which the working element 2 isextended out of the housing element 1 by the lift H, the linear movementby the lift H being possible by means of the rotative motor 7independently of a permanent or sequential, rotative movement of theworking element 2.

[0046] In order for an extremely precise and exact control of therotative and the linear movement of the working element 2 to bepossible, a measuring device 10 adjoins the end side of the workingelement 2 in the vicinity of a base 11 of the housing element 1.

[0047] The particular feature of the measuring device 10 is that thelatter is connected to the working element 2 via a bearing element 12.The measuring device 10 preferably grips in a sleeve-like manner overthe working element 2, the bearing element 12 decoupling a rotativerotational movement of the working element 2 about the central axis Mrelative to the measuring device 10. Furthermore, the bearing element 12couples the linear movement of the working element 2 to the measuringdevice 10. The latter is moveable linearly and, coupled to the workingelement 2, by the lift H, as is indicated in FIG. 1.

[0048] For the rotative decoupling of the sleeve-like measuring device10, the latter is connected to a guide element 13 which merely ensureslinear guidance of the measuring device 10 and prevents a rotativemovement of the measuring device 10 about the central axis M.

[0049] In this connection, the scope of the present invention is also toinclude allowing the measuring device 10 to engage directly orindirectly in, for example, a radially extending, inner guide groove inthe cylinder wall 6 of the housing element 1, if this is desirable. Theguide element 13 can then be omitted.

[0050] By means of the rotative decoupling of the measuring device 10relative to the working element 2 and the linear coupling, at least onelinear sensor 14, which is preferably arranged on the inside in thehousing element 1 on the inner cylinder wall 6 in the vicinity of thebase 11, can be used to read and control, in a highly precise manner, alinear movement of the measuring device 10 via sensors 15, for examplemagnetic strips, encoders, linear sensors or the like, and, as far asthe lift is concerned, the linear acceleration and velocity directly.

[0051] By this means, a linear movement of the working element 2, inparticular also the linear movement, coupled thereto, of the measuringdevice 10 can be precisely determined and controlled in an absolutelyexact manner to a few hundredths of a millimeter, which concerns, inparticular, the parameters of the path or lift to be covered, theacceleration and also the velocity.

[0052] The measuring device 10 is assigned on the inside a rotationsensor 17 which interacts with a second rotation sensor on that region16 of the working element 2 which is of tapered design. Said rotationsensors are arranged lying opposite each other. The rotation sensors 17,18 are arranged in a contactless manner with respect to each other andare linearly moveable.

[0053] Viewed rotatively, the rotation sensor 17, which is connected tothe measuring device 10 is driven in a fixed manner, and the oppositerotation sensor 18, which is connected to the working element 2, isdriven rotatively, by means of the working element 2.

[0054] By this means, the rotational movement can be controlled exactlyin a defined, determined and, in particular, programmable manner withthe aid of the rotative motor 7. For example, a determined, arbitrarynumber of revolutions of the working element 2 can be read andcontrolled by means of the rotative motor 7. The angular velocities andalso angular accelerations of the driving element [sic] 2 can also bemeasured and controlled by means of the rotative motor 7.

[0055] In this case, the rotation sensor 18 can comprise individualmagnets, resolvers/encoders or the like which do not require any supplyof power from the outside.

[0056] The supply of power and also the supply and discharge ofinformation and signals takes place via the rotation sensor 17. This isonly moved linearly, but not rotatively. A connecting line 19 (onlyindicated here) also supplies the corresponding signals for the rotativemotor 7.

[0057] Further connecting lines 20 produce the connection to the linearsensor 14, this connecting line 20 being guided to the outside in thefixed housing element 1. The actual transmission of the information ordata of the linear movement takes place in a contactless manner in asimilar way to the transmission of data by the rotation sensors 17, 18.These rotation sensors 17, 18 may also be used for starting up therotative motor 7, and the linear sensors 15 [sic] together withinteracting magnetic strips 15 may also be used for starting up thelinear motor 5.

[0058] An exact, contactless measurement of the linear movement andcontrol of the linear movement are only possible, in particular, bydecoupling the rotative movement of the measuring device 10. At the sametime, an exact measurement and control of the rotative movement of theworking element is made possible in a contactless manner independentlyof the linear movement. Separate protection is therefore sought in thesubordinate claims for the decoupling of the measuring device.

[0059] Furthermore, it has proven particularly advantageous in the caseof the present invention to support the measuring device 10, andtherefore the working element 2, relative to a base 11 of the housingelement 1 by means of a spring element 21. The spring element 21 can beconfigured in such a manner that, for example, the dead weight of theworking element 2 is completely absorbed. By this means, during thelinear movement of the working element 2 and of the measuring device 10the mass is reduced, so that considerably higher linear accelerationsand velocities can be dealt with with great precision.

[0060] In addition, wear is minimized, it also being possible for thedesign of the linear motors 5 to be correspondingly coordinatedtherewith. Said linear motors may, for example, turn out to be lighterand smaller.

[0061] It is also proven advantageous to pass the connecting line 19 tothe rotation sensor 17 via the spring element 21 in order to equalize alift H, without having to correspondingly shorten or extend theconnecting line 19.

[0062] Furthermore, the spring element 21 ensures a cut-out, for examplein the event of a current breakdown, so that a movement of the workingelement 2 towards the base 11 of the housing element 1 is interceptedand damped without the precise bearings 3 or the components of themeasuring device 10 being damaged by an impact or the like or beingadversely affected in their accuracy.

[0063] In particular by equalizing the dead weight of the workingelement 2 with, for example, adjoining tool 4 and measuring device 10,great advantages are afforded, in particular, in the linear movement ofthe working element 2 by means of the linear motor 5, with the resultthat relatively large accelerations and velocities are possible at arelatively small starting power and relatively small overall size of thelinear motor 5. Separate protection is therefore claimed in this regardby the subordinate, further patent claims.

[0064] In a further exemplary embodiment of the present inventionaccording to FIG. 3, a further lifting/swiveling drive R is shown whichessentially has the components as are described in FIGS. 1 and 2.

[0065] The difference is that the bearing 3 is not arranged between thehousing element 1 and working element 2, but is provided within theworking element 3 [sic]. Sliding bearings are preferably also used here.The bearing 3 is supported on the base 11 or in the end region of thehousing element 1 or is connected fixedly to the latter. If appropriate,the bearing 3 may be part of the housing element 1 or may be assignedthereto, as indicated in FIG. 3.

[0066] By means of the mounting of the working element 2 rotativelyabout the bearing 3, which is arranged within the working element 2,both in the radial and in the axial direction, a lift H can beincreased, or an installation height E can be reduced in comparison withthe exemplary embodiment according to FIGS. 1 and 2. This is likewise tolie within the scope of the present invention.

[0067] However, the scope of the present invention is also to include,for example, pulling the working element 2 coaxially over the housingelement 1, so that then the magnets 9.1, 9.2 are correspondinglyprovided on an inner wall (not illustrated here in greater detail) ofthe working element, and the rotative motors 7 and linear motors 5 arecorrespondingly arranged on an outer cylinder wall of the housingelement 1. The invention is not intended to provide any limits in thisregard.

List of Reference Numbers

[0068]1 Housing element

[0069]2 Working element

[0070]3 Bearing

[0071]4 Tool

[0072]5 Linear motor

[0073]6 Cylinder wall

[0074]7 Rotative motor

[0075]8 Circumferential surface

[0076]9 Magnet

[0077]10 Measuring device

[0078]11 Base

[0079]12 Bearing element

[0080]13 Guide element

[0081]14 Linear sensor

[0082]15 Magnetic strip

[0083]16 Region

[0084]17 Rotation sensor

[0085]18 Rotation sensor

[0086]19 Connecting line

[0087]20 Connecting line

[0088]21 Spring element

[0089] A Distance

[0090] E Installation height

[0091] H Lift

[0092] K Radial length

[0093] L Length

[0094] M Central axis

[0095] R Lifting/swiveling drive

[0096] X Double arrow direction

[0097] Y Double arrow direction

1. Lifting/swiveling drive having a working element (2) which can moverotatably and linearly relative to a housing element (1), characterizedin that in order for the working element (2) to move in a controllable,linear and rotative manner relative to the housing element (1), at leastone linear motor (5) and at least one rotative motor (7) is [sic]assigned to the working element (2) and/or the housing element (1). 2.Lifting/swiveling drive according to claim 1, characterized in that theat least one linear motor (5) and the at least one rotative motor (7) is[sic] in contactless engagement with respective magnets (9.1, 9.2). 3.Lifting/swiveling drive according to claim 2, characterized in that theworking element (2) is arranged within the housing element (1) such thatit is movable linearly and rotatively, in particular is arrangedcoaxially.
 4. Lifting/swiveling drive according to claim 1 or 2,characterized in that the working element (2) engages over the housingelement (1) such that it is movable linearly and rotatively, inparticular engages coaxially over it.
 5. Lifting/swiveling driveaccording to at least one of claims 1 to 4, characterized in thathousing element (1) and working element (2) are of cylindrical designand are connected coaxially to each other in a manner such that they canmove rotatably and linearly virtually without any play. 6.Lifting/swiveling drive according to at least one of claims 1 to 5,characterized in that the at least one linear motor (5) and the at leastone rotative motor (7) are connected fixedly to the housing element (1)and, in this connection, can be activated by means of power andcorresponding control signals via statically laid and immobileconnecting lines.
 7. Lifting/swiveling drive according to at least oneof claims 2 to 6, characterized in that the respective magnets (9.1,9.2) for the linear motor (5) and for the rotative motor (7) areassigned to the working element (2).
 8. Lifting/swiveling driveaccording to at least one of claims 2 to 7, characterized in that themagnets (9.1, 9.2) are arranged [sic] to the working element (2) in amanner such that they at least partially encircle an outercircumferential surface (8).
 9. Lifting/swiveling drive according to atleast one of claims 2 to 8, characterized in that the at least onelinear motor (5) of the housing element (1) interacts in a contactlessmanner with a first magnet (9.1), in particular permanent magnet,arranged such that it encircles the working element (2). 10.Lifting/swiveling drive according to at least one of claims 2 to 8,characterized in that the at least one rotative motor (7) of the housingelement (1) interacts in a contactless manner with the magnet (9.2), inparticular permanent magnet, of the working element (2), which magnet isarranged in an at least partially encircling manner. 11.Lifting/swiveling drive according to at least one of claims 2 to 10,characterized in that linear motor (5) with interacting magnets (9.1)and rotative motor (7) with correspondingly interacting magnets (9.2)are arranged spaced apart axially with respect to each other on workingelement (2) and housing element (1).
 12. Lifting/swiveling driveaccording to at least one of claims 2 to 11, characterized in that inorder to ensure a permanent, rotative movement of the working element(2) and in order to ensure a simultaneous, linear movement of theworking element (2) relative to the housing element (1), the magnets(9.1, 9.2), which are arranged in an at least partially encirclingmanner, for the linear motor (5) and rotative motor (7) are designed tobe axially longer by a defined lift (H) than a length (L) of linearmotor (5) and rotative motor (7) or range of effectiveness thereof. 13.Lifting/swiveling drive according to claim 12, characterized in that thelift (H) of the linear motor (5) and interacting magnets (9.1) and thelift (H) between rotative motor (7) and interacting magnet (9.2) isapproximately the same size, the lift (H) resulting from a radial length(K) minus the length (L) of the linear motor (5) and rotative motor (7)respectively in engagement with the magnets (9.1, 9.2). 14.Lifting/swiveling drive according to at least one of claims 1 to 13,characterized in that the working element (2) is guided coaxially withinor outside the housing element (1) in a linear and rotative manner andvirtually without any play via bearings (3).
 15. Lifting/swiveling driveaccording to claim 14, characterized in that the at least one bearing(3) is arranged between housing element (1) and working element (2). 16.Lifting/swiveling drive according to claim 14 or 15, characterized inthat the at least one bearing (3) is arranged within the working element(2) and is mounted relative to a base plate (11) or, on the end side,relative to the housing element (1), the bearing (3) being engaged overin a sleeve-like manner by the working element (2). 17.Lifting/swiveling drive having a drive element (2) which can moverotatably and linearly relative to a housing element (1), characterizedin that in order for the working element (2) to move in a controllable,linear and rotative, contactless manner relative to the housing element(1), the rotative movement of the working element (2) takes place bymeans of a rotatively decoupled and linearly coupled measuring device(10) in order to measure and/or control a linear movement of the linearmotor (5).
 18. Lifting/swiveling drive having a working element (2)which can move rotatably and linearly relative to a housing element (1),characterized in that for the contactless, rotative measurement and/orcontrol of a rotational movement of the working element (2) relative tothe housing element (1), a linear movement is coupled by means of ameasuring device (10) assigned to the working element (2), the measuringdevice (10) being rotatively decoupled relative to the rotationalmovement of the rotative motor (7).
 19. Lifting/swiveling driveaccording to claim 17 or 18, characterized in that the working element(2) is connected to the measuring device (10) in a radially movablemanner, a linear movement of the working element (2) being coupled tothe measuring device (10) via a bearing element (12). 20.Lifting/swiveling drive according to at least one of claims 17 to 19,characterized in that the measuring device (10) is coupled linearly tothe linear movement of the working element (2) and is decoupled withrespect to the radial movement of the linear motor (5) in that thelatter the latter [sic] is in engagement with a guide element (13) ofthe housing element (1).
 21. Lifting/swiveling drive according to atleast one of claims 17 to 20, characterized in that in order for themeasuring device (10) to be rotatively decoupled relative to therotative movement of the driving element [sic] (2), the latter is guidedlinearly relative to the housing element (1), if appropriate axially ina groove.
 22. Lifting/swiveling drive according to at least one ofclaims 17 to 21, characterized in that by rotatively decoupling themeasuring device (10) relative to the rotatively and linearly movabledriving element [sic] (2), a permanent, contactless measurement of therotational movement is ensured by means of rotation sensors (17, 18)which lie opposite each other and spaced apart in a contactless mannerbetween the measuring device (10) and driving element [sic] (2). 23.Lifting/swiveling drive according to at least one of claims 17 to 22,characterized in that independently of a linear movement of measuringdevice (10), coupled to the linear movement of the working element (2),by means of rotative decoupling of the measuring device (10) relative tothe rotative movement of the working element (2) the rotationalmovement, a rotational acceleration, an exact measurement of therotational angle can be detected in a contactless manner by means ofrotation sensors (17, 18) and can be measured and evaluated inparticular for controlling the rotative motor (7).
 24. Lifting/swivelingdrive according to at least one of claims 17 to 23, characterized inthat in order to measure and control the linear movement of the workingelement (2) relative to the housing element (1), the latter is assigneda linear sensor (14) in contactless connection with the one sensor (15),encoder strip or magnetic strip of the working device (2), in particularmeasuring device (1).
 25. Lifting/swiveling drive according to claim 24,characterized in that the linear sensor (14) is arranged in a fixedmanner within the housing element (1) and, in the vicinity of themeasuring device (10), interacts in a contactless manner with theencoder strip, magnetic strip (15) or the like of the measuring device(10) for the exact and precise determination of a lift (H) and of alinear acceleration or velocity.
 26. Lifting/swiveling drive having aworking element (2) which can move rotatably and linearly relative to ahousing element (1), characterized in that in order for the workingelement (2) to move in a controllable, linear and rotative mannerrelative to the housing element (1), the working element (2) issupported directly or indirectly, if appropriate via a measuring device(10) assigned thereto, via at least one spring element (21) in order tostatically counterbalance it.
 27. Lifting/swiveling drive according toclaim 26, characterized in that the measuring device (10) is coupled viaa bearing element (12) to a linear movement of the working element (2)and is decoupled with respect to a rotative movement of the workingelement (2), the at least one spring element (21) being arranged inorder to equalize the dead weight between the measuring device (10) andhousing element (1).